六自由度模块化机械臂的逆运动学分析

针对自主研发的六自由度(DOF)模块化机械臂,提出一种逆运动学求解方法.根据机械臂的结构特点和运动学约束,对机械臂的运动学进行分析.建立该类型机械臂的正运动学模型,得到了机械臂逆运动学的完整解析解.采用Denavit-Hartenberg(D-H)法对机械臂操作空间进行描述,在考虑机械臂运动学约束的基础上,得到以关节角度为变量的正运动学模型.通过分析正运动学模型的可解性,采用矩阵逆乘的解析法求解机械臂的正运动学模型,得到了该类机械臂逆运动学的完整解析解.通过仿真验证了正运动学模型及运动学逆解的正确性,运动学逆解可以用于机械臂末端执行器的精确定位和运动规划.     

索穹顶与单层网壳组合结构的模型试验研究

研究索穹顶与单层网壳组合的新型空间结构的受力性能.设计肋环型索穹顶与肋环双斜杆型单层网壳组合的结构,对其进行下部索穹顶预应力张拉试验以及结构在全跨和半跨荷载下的静力性能试验.根据试验结果对试验的计算模型进行修正,并将结构在全跨和半跨荷载下的试验实测数据与理论分析结果进行比较.结果表明,实测数据与理论分析之间差异较小,模型设计和试验方法合理,理论分析方法正确.修正的计算模型能准确反映结构的力学性能.     

张拉成形网格结构成形过程参数分析

为进一步掌握张拉成形网格结构成形性能,根据结构特点,以结构上弦截面、腹杆、刚臂、高跨比、中心环梁等为主要影响参数,通过理论模拟与分析,结合其现场施工方法,就一个100m跨的张拉成形网格结构工程实例,全面研究了各设计参数对结构成形性能的影响,结果表明,上弦截面、刚臂节间数和高跨比是影响结构成形的3个最主要的参数,其余参数对结构成形内力影响不大,适宜的刚臂对结构成形非常有利,并得出了各参数对结构成形的影响特点.     

Ultralight X-type lattice sandwich structure (I): Concept,fabrication and experimental characterization

A new type of ultra-lightweight metallic lattice structure (named as the X-type structure) is reported. This periodic structure was formed by two groups of staggered struts in the traditional pyramid structure, and fabricated by folding expanded metal sheet along rows of offset nodes and then brazing the folded structure (as the core) with top and bottom facesheets to form sandwich panels. The out-of-plane compressive and shear properties of the X-type lattice sandwich structure were investigated experimentally and compared to those of the sandwich having a pyramidal truss core. It is found that the formation of the 2-dimensional staggered nodes can effectively make the X-type structure more resistant to inelastic and plastic buckling under both compression and shear loading than the pyramidal lattice truss. Obtained results show that the compressive and shear peak strengths of the X-type lattice structure are about 30% higher than those of the pyramidal lattice truss having the same relative density. Supported by the National Basic Research Program of China (“973” Project) (Grant No. 2006CB601202), the National Natural Science Foundation of China (Grant Nos. 10632060,10825210), the National “111” Project of China (Grant No. B06024) and the National High-Tech Research and Development Program of China (“863” Project) (Grant No. 2006AA03Z519)     

Gaussian sampling of lattices for cryptographic applications

Gaussian sampling is the major class of algorithms for solving the close vector problem(CVP)of lattices.In this paper we present a novel Gaussian sampling algorithm,which has the same cryptographic applications with original Gaussian sampling algorithms.Our novel Gaussian sampling algorithm has smaller deviations,meaning smaller space sizes of lattice based public-key ciphers.The shape of our novel algorithm is almost repeated implementations of original algorithm,with random repeating times.Major result is that the deviation can be reduced to 0.64～0.75 of that of original Gaussian sampling algorithm without clearly increasing the average time cost.     

A new parallel lattice reduction algorithm for BKZ reduced bases

In order to implement the original BKZ algorithm in parallel,we describe it in terms of parallelism and give its parallel implementation scheme.Then we analyze the efficiency of algorithm’s parallel implementation and show that the speedup factor of BKZ algorithm in parallel is extremely low.Therefore we present a new parallel lattice reduction algorithm suitable for multiprocessor computer architecture.The new algorithm can obtain a BKZ reduced basis and the parallel speedup is effective.Also with the practical results,although the computational complexity increases compared with the original BKZ algorithm,we still indicate that the new algorithm performs well in parallel and the time cost in parallel is less.At the same time,we show that the length of the shortest vector is smaller.     

格上高效的完全动态群签名方案

为降低完全动态群签名加入和撤销机制的复杂性,将动态群签名思想引入NGUYEN等人提出的格上群签名方案,提出一种改进的完全动态群签名方案。在改进方案中,用户产生自己的签名密钥而不是由群管理员产生,当用户加入群时,群管理员验证用户身份并为其颁发证书,用户成为群成员后用自己的签名密钥和证书进行签名。若群成员有不合法行为或想退群,则群管理员和群成员均可执行群成员的撤销操作,使群成员退出该群。由于方案中群成员的签名密钥由自己生成,因此能够抵抗群管理员的陷害攻击。在随机预言模型下,基于错误学习问题和非齐次小整数解问题证明改进方案的安全性。分析结果表明,该方案能够减少加入和撤销机制的计算代价,且密钥长度和签名长度与群成员数量无关,适用于大群组的签名系统。     

中子辐照SiC晶格肿胀及退火回复机理研究

为研究辐照缺陷产生及其热稳定性,对SiC晶体实施了不同通量中子辐照.利用高分辨X射线衍射和单晶X射线衍射研究了中子辐照6 H-SiC晶体的肿胀效应以及退火对肿胀的回复作用.研究结果表明,SiC晶体经中子辐照后产生的主要缺陷是点缺陷,中子辐照通量越大,SiC晶体肿胀效应越显著.在2.85×1024 n/m2辐照通量下,SiC晶体未出现非晶化.高温退火可使肿胀的SiC晶格回复,1450℃退火275 min晶胞参数回复至辐照前水平.退火过程晶胞体积回复符合一级反应方程,利用等温退火方法计算分析迁移能分布.实验发现不同缺陷迁移能分别对应不同退火温度阶段:0.16 eV对应200～500℃退火;0.24 eV对应600～1100℃退火;1.15 eV对应1200～1400℃退火.200～500℃温度区间主要是C的Frenkel缺陷复合;600～1100℃温度区间主要是Si的Frenkel缺陷复合;更高温度区间1200～1400℃则对应C、Si间隙原子复合.实验结论对全面掌握晶体测温技术、提高测温精度具有一定的指导意义.     

基于OE-概念格的形式背景属性约简

在三支概念格的属性约简框架下,借助布尔矩阵理论,研究保持OE-对象粒矩阵不变的属性约简问题。给出OE-对象粒矩阵的概念以及OEG粒协调集的定义,在此基础之上讨论属性之间的相似性,并且刻画属性的内外重要度。针对对象导出三支概念格的形式背景设计基于矩阵理论的启发式属性约简算法。将上述理论结果应用于对象导出三支概念格的决策形式背景,提出三支协调决策形式背景及OEG粒协调集的概念,并且从规则提取的角度说明约简集对应的OE-概念格的决策形式背景的三支规则集比原背景的三支规则集更加简洁。通过数值实验阐明该理论的可行性和合理性。     

复杂施工条件下无人碾压机群协同全覆盖路径规划研究

无人碾压是大坝碾压施工领域研究的热点。大坝施工具有坝面面积大、料区多、障碍物多等复杂特点,这给无人碾压机群协同作业带来挑战。研究无人碾压机群高效协同全覆盖路径规划对于保证无人碾压机在大坝复杂施工条件下的碾压质量和进度具有重要意义。本文提出一种无人碾压机群协同全覆盖路径规划的新方法,包括作业面分解、子作业面规划、子作业面连通和机群任务分配等步骤。首先,针对存在障碍物的不规则边界作业面分解问题,采用Boustrophedon算法将其拆分成较少的无障碍物子作业面;其次,提出满足搭接法和错距法碾压施工原理的碾压运动模型（CMM,Compaction Motion Model）来进行子作业面路径规划;再者,将各子作业面连通施工顺序优化问题建模为TSP模型（TSP,Traveling Salesman Problem）,采用混沌理论改进蜻蜓算法的搜索机制,构建混沌蜻蜓算法,以求解较优的子作业面间转场路径;最后,建立无人碾压机群作业时间成本函数,并以最小化时间成本为准则将全覆盖路径分配至各无人碾压机,实现无人碾压机群的高效协同全覆盖路径规划。以心墙堆石坝为例,通过Matlab仿真对比和工程应用,结果表明本文所提出的方法能够实现复杂施工条件下的无人碾压机群的协同全覆盖最优作业路径规划。同时,在碾压质量方面能够满足各料区碾压达标率均高于95%,在碾压效率方面无人碾压机设备利用率均高于97%。本研究为大坝碾压机群无人驾驶协同全覆盖路径规划提供了一种新思路。